CN105947012A - Differential gear driving robot leg mechanism and control method - Google Patents
Differential gear driving robot leg mechanism and control method Download PDFInfo
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- CN105947012A CN105947012A CN201610304924.XA CN201610304924A CN105947012A CN 105947012 A CN105947012 A CN 105947012A CN 201610304924 A CN201610304924 A CN 201610304924A CN 105947012 A CN105947012 A CN 105947012A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a robot leg based on a differential gear driving mode and a control method and belongs to the technical field of robots. According to the robot leg based on the differential gear driving mode and the control method, a robot thigh can move front and back as well as up and down at the same time by simultaneously changing the movement speed and direction of a hip joint first driving motor (19) and the movement speed and direction of a hip joint second driving motor (20); movement of a calf is achieved through a knee joint driving motor (7), and the joint position is achieved through the PD control algorithm after being measured by a knee joint angle sensor (4) and a hip joint angle sensor (14); in the robot leg moving process, the contact state of a foot and the environment is sensed through a contact sensor (22) embedded in the calf, the distance between a foot end and a contact surface is sensed through a distance sensor (21) fixed to the calf, and compliant control of the foot end and the environment is achieved through the impedance control algorithm, so that the impact in the contact process is effectively reduced.
Description
Technical field
The present invention relates to a kind of difference gear driven machine people's leg mechanism and control method, belong to field of special robots.Can be applicable to anti-terrorism, search and rescue, small space detection, security, aviation aerospace and the field such as urban service industry and education.
Technical background
Under non-structure environment, the robot of maneuverability has extensive and urgent demand.Legged type robot is wherein important kind, and in legged type robot, quadruped robot is again an important branch, and has obtained great concern, and this year have also been obtained significant progress.The most abroad, Bigdog robot, the squad of LS3 robot in later stage and the cheetah robot etc. developed such as Boston company of Google of U.S. purchase, other the HyQ robot such as Italy and the quadruped robot etc. of Zurich, SUI engineering college, all have very high flexibility and mobility and stiff stability.For ensureing its high maneuverability, high-adaptability and load capacity, these robots have employed hydraulic pressure or the form of hydraulic pressure-motor combination drive more.
The motion of dexterous robot, not only directly related with control system performance and method thereof, and the mechanical features of himself its high performance basis especially, the self structure of robot determines the performance that it is possible.For legged type robot, the critical component of Tui Shi robot.The planning of type of drive, the design of lower limb each several part proportion directly affects the performance of robot.
Coriolis force item in robot dynamics's equation is a more complicated part, and is the item necessarily occurred in articulated robot kinetics equation.In the Study of Control for Robots, often directly being neglected, and the robot of actual design is in motor process, this part is likely to account for larger proportion in kinetics equation.If coriolis force some effects are relatively big, the kinetics equation directly simplified differs more with real system, and the control method designed accordingly does not reaches preferable effect yet.Therefore, if robot mechanism design is possible not only to make robot dynamics's equation simplification, and the computational complexity of code in robot control system can also greatly be reduced.
Summary of the invention
Based on above-mentioned background, the present invention proposes a kind of difference gear driven machine people's leg mechanism and control method.Utilize motion transmission effect, the parts such as the motor of heavier mass are arranged on fuselage, effectively reducing the weight of robot leg, make the robot dynamics's equation after simplification coriolis force item remain to embody roboting features, the control method designed accordingly can effectively control the motion of robot.
A kind of difference gear driven machine people's leg mechanism, including thigh, shank and foot；It is characterized in that: above-mentioned foot is connected to below described shank by ankle, described ankle is spring damping structure, and described foot is elastic pellet；Above-mentioned shank is connected with described thigh by knee joint, described knee joint includes knee axis, knee joint driven wheel of differential, knee-joint active dynamic bevel gear, knee joint driven wheel of differential is identical with knee-joint active dynamic bevel gear parameter, knee joint driven wheel of differential is installed on knee axis, knee-joint active dynamic bevel gear is installed on knee joint and drives the output shaft of motor, knee joint drives motor to be installed on thigh, and the output shaft of knee joint driving motor is vertical with knee axis；Above-mentioned thigh is connected with fuselage by hip joint, and described hip joint includes the differential driving mechanism being made up of hip joint driven wheel of differential, hip joint the first drive bevel gear, hip joint the second drive bevel gear；Wherein three bevel gear parameters are identical；Hip joint driven wheel of differential is installed on hip joint axle；Hip joint driven wheel of differential engages with hip joint the first drive bevel gear and hip joint the second drive bevel gear respectively；Hip joint the first drive bevel gear is driven motor to drive by hip joint first, and hip joint the second drive bevel gear is driven motor to drive by hip joint second；Hip joint first drives motor and hip joint second to drive motor to be mounted on fuselage；Touch sensor is installed in the middle of above-mentioned spring damping structure；Knee joint angle sensor is installed on above-mentioned knee axis；Being provided with range sensor on above-mentioned shank, range sensor is parallel with shank；Hip Angle sensor is installed on above-mentioned hip joint axle.
Described difference gear driven machine people's leg mechanism, it is characterised in that: described hip joint axle is installed on robot leg bracing frame, utilizes bolt-slide block mechanism fine setting hip joint Axial and radial position.
Described difference gear driven machine people's leg mechanism, it is characterised in that: it is respectively mounted synchronization wheel in above-mentioned hip joint the first drive bevel gear and hip joint the second drive bevel gear；The described wheel that synchronizes is driven motor or hip joint second to drive motor to drive by Timing Belt by hip joint first respectively.
Described difference gear driven machine people's leg mechanism, it is characterised in that: above-mentioned knee joint drives the output shaft of motor to be parallel to thigh and installs.
Described difference gear driven machine people's leg mechanism, it is characterised in that: above-mentioned knee joint drives the output shaft of motor to be perpendicular to thigh and installs, and is taken turns by synchronization, by toothed belt transmission, drives shank motion.
The control method of described difference gear driven machine people, it is characterised in that: drive motor and hip joint second to drive movement velocity and the direction of motor by changing hip joint first simultaneously, before and after realizing robot thigh simultaneously and move up and down；Driving motor to realize the motion of shank by knee joint, joint position is by, after knee joint angle sensor, Hip Angle sensor measurement, realizing by PD control algolithm；In robot leg motor process, by embedding the contact condition of the touch sensor perception foot in shank and environment, by the range sensor perception foot end being fixed on shank and the distance of contact surface, by impedance control algorithm, realize foot end and the Shared control of environment, effectively reduce the impact of contact process.
Present invention have an advantage that 2 driving motors of the big leg joint of a robot are arranged on fuselage, knee joint drives motor to be arranged on thigh, reduces shank quality, thus effectively simplify robot leg kinetics equation while increasing fuselage weight.According to the motion of nature high speed, there is high machine and the body structure of adaptive animal and the distribution of joint freedom degrees, the motion-transmission manner of design robot lower limb and structure, thus on the premise of meeting robot motion's performance requirement, reduce robot leg weight.Simplification requirement according to robot leg kinetics equation, distributes the parameters such as the length of each several part, quality, makes the kinetics equation of simplification remain to embody the mechanical features of robot in scope of design, reduces the complexity of its motor control and the efficiency of algorithm.
Accompanying drawing explanation
Fig. 1 difference of the present invention gear driven machine people's leg mechanism figure；
Fig. 2 robot leg of the present invention sensor scheme of installation；
Fig. 3 robot of the present invention Timing Belt regulation part installation diagram；
Fig. 4 difference of the present invention drive system model installation diagram；
Fig. 5 machine of the present invention lower limb Control system architecture figure；
nullLabel title in figure: 1、Foot，2、Ankle，3、Shank，4、Knee joint angle sensor，5、Knee joint driven wheel of differential，6、Knee-joint active dynamic bevel gear，7、Knee joint drives motor，8、First big leg splint，9、Second largest leg splint，10、Hip joint driven wheel of differential，11、First synchronizes wheel，12、Hip joint the first drive bevel gear，13、Hip joint the second drive bevel gear，14、Hip joint the first angle sensor，15、Hip joint the second angle sensor，16、3rd synchronizes wheel，17、Second synchronizes wheel，18、4th synchronizes wheel，19、Hip joint first drives motor，20、Hip joint second drives motor，21、Range sensor，22、Touch sensor，23、Leg support，24、Thigh axle，25、Slide block，26、Screw，27、Regulation screw，28、First connecting shaft，29、Synchronize wheel，30、Bearing，31、Copper sheathing，32、Nut，33、Second connecting shaft.
Detailed description of the invention
As it is shown in figure 1, differential driving robot leg mechanism mainly includes hip joint, thigh, knee joint, shank, ankle joint and foot, and drive motor composition.Hip joint is difference drive system model, mainly includes hip joint driven wheel of differential 10, hip joint the first drive bevel gear 12 and hip joint the second drive bevel gear 13, drives whole robot leg to move.It is respectively mounted the first synchronization wheel 11 and second in hip joint the first drive bevel gear 12 and hip joint the second drive bevel gear 13 and synchronizes wheel 17, drive motor 19 and hip joint second to drive the Tong Bu wheel of the 3rd on motor 20 16 and the 4th to synchronize wheel 18 composition drive system by Timing Belt with being arranged on hip joint first.Hip joint first drives motor 19 and hip joint second to drive connection angle sensor hip joint the second angle sensor 15 and hip joint the first angle sensor 14 on the output shaft of motor 20, and motor self has been mounted with reduction box and photoelectric encoder.Motor 19 and hip joint second is driven to drive the rotational angle of motor 20 and speed to control movement position and the speed of differential driving system hip joint driven wheel of differential 10 by Synchronization Control hip joint first.Thigh is made up of two clamping plates, mainly designs according to the connected mode in joint.Hip joint first drives motor 19 and hip joint second to drive motor 20 to be arranged on robot fuselage, thus reduces the weight of leg.
Knee joint is bevel-gear sett drive mechanism, is made up of knee joint driven wheel of differential 5, knee-joint active dynamic bevel gear 6, drives motor 7 to control by knee joint.Knee joint drives motor 7 to be arranged on big leg splint, and motor output shaft is perpendicular to knee joint power transmission shaft, is changed the effect of the direction of motion by bevel gear, direction of motor rotation is transformed in the rotation direction of joint shaft.Knee joint closes installs knee joint angle sensor 4 on arbor, measure kneed rotational angle, utilizes knee joint to drive the photoelectric encoder of motor 7 to obtain the rotating speed of motor, according to the kneed velocity of rotation of gear ratio calculation.
Ankle joint is a passive joint, is spring-damper system, by structure design reduce robot fall foot time impact.Small amplitude rectilinear movement is there is between ankle 2 and shank 3.The foot 1 of robot is a flexible ball, is fixed together with ankle.
It is illustrated in figure 2 the installation of sensor on robot leg.Range sensor 21 is fixed on shank and parallel with shank, for the position of perception foot end Yu contact surface, can be analyzed by sampling and grow sufficient speed, and provide data to control system.Touch sensor 22 dispose foot end state, with range sensor 21 with the use of, detection machine foot end state change, for the motor control of robot leg.
It is illustrated in figure 3 robot leg of the present invention and the adjustment structure of bracing frame is installed.Robot leg bracing frame 23 is bolted on robot body, and thigh axle 24 connects hip joint the first drive bevel gear 12 and hip joint the second drive bevel gear 13.Owing to conveyer belt length customizes, adjustable range is little.Such as figure mounting means, by the position of bolt 26 adjusting slider 25, thus regulate the tightness of fine setting band.
It is illustrated in figure 4 difference drive system model installation diagram of the present invention.Difference drive system model synchronizes wheel 29 be assembled in drive bevel gear, coordinate installation by bearing 30 with the second connecting shaft 33 of two drivewheels.Bolt 32 is for regulating and fix the relative position of drivewheel, and relative mounting positions is regulated by copper sheathing 31.Differential driving system is mutually assembled with drivewheel by the first connecting shaft 28 by dynamic bevel gear.Punch in first connecting shaft, and the second connecting shaft right angle setting, between by copper sheathing transition.The installation of follower and drivewheel fits through screw 27 and regulates.Illustrating the installation of half differential driving system in figure, additionally half is full symmetric.
Fig. 5 show robot leg Control system architecture figure.Mainly including 4 parts shown in figure, robot leg motion planning on the motion control structure of robot leg, motor controls, power amplification and robot leg mechanism related transducer part.Owing to needing more calculating and the fusion of robot Global Information, robot leg motion planning completes on PC-104, divided by CAN and motor controling part and carry out data exchange, issue the motor movement data of needs, and receive the robot leg joint position relevant with foot end and the digital signal of state.Motor control module is realized by FPGA, completes the communication interface with upper system, receives lower limb motion planning data, the leg joint position of feedback control needs and speed data, and produce the control signal of motor, and after power amplification, 3 direct current generators work on driven machine people's lower limb.The impedance control of robot foot end completes in robot leg motion planning module, by the data of the range sensor that collection is installed on robot leg, and derive corresponding speed and accekeration, obtain the Relative motility parameters of foot end, by impedance control algorithm, in conjunction with robot leg kinetic model, calculating joint driven torque, the adaptability finally realizing robot leg dynamically controls.
In control method, using the impedance control of foot end work space, reduce the robot foot impact when landing, strengthen the environmental suitability of robot, the foot end distance in ground is obtained by the range sensor being arranged on shank.In motor process, foot is in support phase time, and foot end stress is estimated according to floating based system theoretical method.Robot leg move through FPGA control, motion control arithmetic operates in the single board computer PC104 of upper strata.
Difference gear driven machine people's leg mechanism and control method, it is characterised in that: described mechanical part, with reference to energy high speed flexible motion, has the upright quadruped body structure of high maneuverability, such as Canis familiaris L., horse etc..The weight of relative body, four lower limb lighter weight, the especially lower leg portions of the type animal, leg muscle is flourishing, controls the motion of thigh, and relying part divides the stretching of muscle group to drive the motion of shank.From controlling angle, the allocative efficiency of this structure reduces the impact of coupling of moving between movable joint.
Difference gear driven machine people's lower limb comprises 3 actively degree of freedom and 1 passive freedom degree.Wherein hip joint is to control robot leg to lift and 2 rotary freedoms of swing, and this joint is differential driving mechanism, affects another one bevel gear by coaxially arranged bevel-gear sett, thus the robot leg that band is automatically connected on this gear moves.Calf joint includes 1 rotary freedom, the swing of the motor belt motor lower limb shank by being arranged on thigh.This joint can be by the way of Bevel Gear Transmission, it is also possible to arranges by motor shaft is parallel to kinematic axis, by synchronizing wheel, belt transmission.1 passive freedom degree is arranged between shank and ankle, utilizes spring-damp system, and while reducing impact by frame for movement, middle touch sensor of installing, perception foot contacts situation with ground.
The facility installed in conjunction with differential driving gear structure and miscellaneous part, robot thigh structure is two pieces of metallic plates, and differential driving gear train is arranged on fuselage, utilizes slide block to adjust the tightness of drive belt.In view of the range of movement of shank, shank has certain radian with the design of thigh junction, thus shank can be fully achieved the position with body parallel.
The control system of differential driving robot leg includes host computer single board computer PC104, and motor controls FPGA module, power amplifier module and robot related transducer part.Single board computer and motor controling part exchange data by CAN between dividing, for controlling issuing of data and uploading of sensing data.Run real time operating system on single board computer, carry out the real-time calculating of motion planning and robot control algorithm.
Claims (6)
1. difference gear driven machine people's leg mechanism, including thigh, shank and foot；It is characterized in that:
Above-mentioned foot (1) is connected to described shank (3) lower section by ankle (2), and described ankle is spring damping structure, and described foot is elastic pellet；
Above-mentioned shank is connected with described thigh by knee joint, described knee joint includes knee axis, knee joint driven wheel of differential (5), knee-joint active dynamic bevel gear (6), knee joint driven wheel of differential (5) is identical with knee-joint active dynamic bevel gear (6) parameter, knee joint driven wheel of differential (5) is installed on knee axis, knee-joint active dynamic bevel gear (6) is installed on knee joint and drives the output shaft of motor (7), knee joint drives motor (7) to be installed on thigh, and the output shaft of knee joint driving motor (7) is vertical with knee axis；
Above-mentioned thigh is connected with fuselage by hip joint, and described hip joint includes the differential driving mechanism being made up of hip joint driven wheel of differential (10), hip joint the first drive bevel gear (12), hip joint the second drive bevel gear (13)；Wherein three bevel gear parameters are identical；Hip joint driven wheel of differential (10) is installed on hip joint axle (24)；Hip joint driven wheel of differential (10) engages with hip joint the first drive bevel gear (12) and hip joint the second drive bevel gear (13) respectively；
Hip joint the first drive bevel gear (12) is driven motor (19) to drive by hip joint first, and hip joint the second drive bevel gear (13) is driven motor (20) to drive by hip joint second；Hip joint first drives motor (19) and hip joint second to drive motor (20) to be mounted on fuselage；
Touch sensor (22) is installed in the middle of above-mentioned spring damping structure；Knee joint angle sensor (4) is installed on above-mentioned knee axis；Being provided with range sensor (21) on above-mentioned shank, range sensor (21) is parallel with shank；Hip Angle sensor is installed on above-mentioned hip joint axle.
Difference gear driven machine people's leg mechanism the most according to claim 1, it is characterised in that:
Described hip joint axle (24) is installed on robot leg bracing frame, utilizes bolt-slide block mechanism fine setting hip joint axle (24) radial position.
Difference gear driven machine people's leg mechanism the most according to claim 1, it is characterised in that:
Synchronization wheel it is respectively mounted on above-mentioned hip joint the first drive bevel gear (12) and hip joint the second drive bevel gear (13)；The described wheel that synchronizes is driven motor (19) or hip joint second to drive motor (20) to drive by Timing Belt by hip joint first respectively.
Difference gear driven machine people's leg mechanism the most according to claim 1, it is characterised in that:
Above-mentioned knee joint drives the output shaft of motor (7) to be parallel to thigh and installs.
Difference gear driven machine people's leg mechanism the most according to claim 1, it is characterised in that:
Above-mentioned knee joint drives the output shaft of motor (7) to be perpendicular to thigh and installs, and is taken turns by synchronization, by toothed belt transmission, drives shank motion.
The control method of difference gear driven machine people the most according to claim 1, it is characterised in that:
Drive motor (19) and hip joint second to drive movement velocity and the direction of motor (20) by changing hip joint first simultaneously, before and after realizing robot thigh simultaneously and move up and down；Drive motor (7) to realize the motion of shank by knee joint, after joint position is measured by knee joint angle sensor (4), Hip Angle sensor (14), realized by PD control algolithm；
In robot leg motor process, by embedding the contact condition of touch sensor (22) the perception foot in shank and environment, by range sensor (21) the perception foot end being fixed on shank and the distance of contact surface, by impedance control algorithm, realize foot end and the Shared control of environment, effectively reduce the impact of contact process.
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| CN107168351A (en) * | 2017-05-26 | 2017-09-15 | 中国北方车辆研究所 | A kind of Shared control method and device of legged type robot |
| CN107323564A (en) * | 2017-07-04 | 2017-11-07 | 西北工业大学 | The leg mechanism of hydraulic-driven hopping robot |
| CN108113843A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | Damping actuators and lower limbs rehabilitation training robot |
| CN108242202A (en) * | 2016-12-23 | 2018-07-03 | 康茂股份公司 | With the module that can be combined and for the function device of educational purposes, especially robot |
| CN110091935A (en) * | 2019-04-26 | 2019-08-06 | 南京航空航天大学 | Three Degree Of Freedom leg joint and method based on differential gear train |
| CN110525535A (en) * | 2019-07-25 | 2019-12-03 | 广东省智能制造研究所 | A kind of two-wheel foot mixing self-balance robot |
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| CN110091935A (en) * | 2019-04-26 | 2019-08-06 | 南京航空航天大学 | Three Degree Of Freedom leg joint and method based on differential gear train |
| CN110091935B (en) * | 2019-04-26 | 2023-05-12 | 南京航空航天大学 | Three-degree-of-freedom leg joint based on differential gear train and method |
| CN110525535A (en) * | 2019-07-25 | 2019-12-03 | 广东省智能制造研究所 | A kind of two-wheel foot mixing self-balance robot |
| CN110576918A (en) * | 2019-10-09 | 2019-12-17 | 五邑大学 | Four-wheel foot track inspection auxiliary robot |
| CN110667724B (en) * | 2019-11-11 | 2022-06-24 | 路邦科技授权有限公司 | All-terrain mobile robot |
| CN113022732A (en) * | 2019-12-25 | 2021-06-25 | 沈阳新松机器人自动化股份有限公司 | Leg structure of robot |
| CN111942495A (en) * | 2020-08-12 | 2020-11-17 | 常州大学 | Three-foot swinging advancing robot |
| CN113525550A (en) * | 2021-08-26 | 2021-10-22 | 清华大学 | Robot leg and quadruped robot based on differential structure |
| CN116001948A (en) * | 2023-02-14 | 2023-04-25 | 七腾机器人有限公司 | Electro-hydraulic compound driving explosion-proof leg-foot robot |
| CN116001948B (en) * | 2023-02-14 | 2023-10-20 | 七腾机器人有限公司 | Electro-hydraulic compound driving explosion-proof leg-foot robot |
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Application publication date: 20160921 |